In the bowl of your stand mixer, combine warm water, sugar, and yeast. Allow it to rest for approximately 5-10 minutes until it becomes frothy.
Add melted butter, salt, and 3 cups of flour to the yeast mixture. Mix on low speed until combined.
Gradually add the remaining 1 cup of flour and continue to knead the dough with the dough hook attachment until it's smooth and elastic about 5-7 minutes.
Form the dough into a round shape and position it in a bowl that has been coated with grease. Cover with plastic wrap and a kitchen towel. Allow it to rise in a warm place for 1-2 hours, or until it has doubled in size.
Preheat your oven to 375°F (190°C). Line a baking sheet with parchment paper.
Gently deflate the fully risen dough and separate it into 12 evenly sized portions. Shape each piece into a ball and place them on the prepared baking sheet.
Brush the bread rolls with milk and bake for 20-25 minutes, or until they are golden brown and sound hollow when tapped on the bottom.
Let them cool on a wire rack while removing from the oven.